Research On Attitude Control Of Quadroter Unmanned Helicopter Based On Jump Systems

Quad-rotor Unmanned Helicopter is a kind of small and medium-sized VTOL unmanned helicopter,which has many functional advantages,such as remarkable maneuverability and strong environmental adaptation.Therefore,this application has a good prospect.As a comparatively flexible and stable flying platform,it can be applied into many fields due to the ability of carrying various kinds of devices,such as camera for aerial photography and mapping,illumination equipment for disaster resistance and succor,military facility for military strike,etc.As the development of MEMS in recent years,especially,the further increasing in accuracy and decreasing in volume of Inertial Measurement Unit(IMU)carried in quad-rotor unmanned helicopter improve the stability and reduce the volume of quad-rotor unmanned helicopter,which make quad-rotor unmanned helicopter get more and more attention.Quad-rotor has four independent actuators(four motors),each of which possibly produce the situation of trust fluctuation(actuator breakdown)in the process of flying.Most of researches recently,however,have no consideration of the situation of trust fluctuation.Based on modeling of quad-rotor unmanned helicopter,the passage simplify the model of quad-rotor unmanned helicopter in a great degree under certain condition.Furthermore,apply Markov jump to depict the trust breakdown of quad-rotor unmanned helicopter accordingly.Meanwhile,use H? control to restrain the perturbance in the system and build the Markov jump system model to consult and tract the parametric calculation method of control problem,and design the controller of quad-rotor system.The simulation results show that the designed controller can keep the system stable and restrain the disturbance effectively when the actuator has random jump faults.Then the passage design flying control circuit using STM32 and build the quad-rotor unmanned helicopter.Design an experiment tactfully to simulate the random breakdown of actuator and verify the theory.The experiment suggests that the theory of this paper acts a relatively good guiding role for determining controller of practical system parameter.